Answers first. Explanations only if you want them.
Yes the system should charge fully at a high idle.... say over 11/1200 rpm. A voltmeter across the battery terminals at 14/1500 RPM will show between 13 and 14 volts DC - but only if the whole system is good. We need to eliminate some things.
Sure, the glow plugs could be the culprits. That's a nice piece of diagnosis. So open the hood and disconnect the wires to the glow plugs..or pull the fuse that activates them. Anything to make sure they are off.
We can figure this out if you want to take a few days to actually know what is happening.
First of all the battery. Is it a wet cell or an AGM. Do you have a "smart charger" & digital voltmeter? Is the digital voltmeter a VOM type that also measures continuity and resistance and can distinguish between AC and DC? We might need those abilitys later....not now.
First, we do the battery. Disconnect both battery leads from the battery.
Now you have a a choice. Taking the battery out and over to the bench is best because you can see the cables better so you can wiggle and inspect them. Look for an internal break in both cables. My Kubota had an internal break half way down the negative cable - I liked to never found it. Also scrape off all the corrosion down to bright metal, and specifically look for corrosion where the neg. bolts to the frame.
Do NOT get the acid salts on your good blue jeans.. If you mess up, use baking soda and water to kill the acid.
OK. Before doing anything, measure the voltage of the discharged battery.
Now hook it up to charger at about 4 to 8 amps overnight. No more amps than that, or you can get overheating and not as good a charge. When you turn the charger on, check across the terminals of the battery with your voltmeter to prove to yourself that the charger is supplying somewhere between 13 and 14 volts to the battery. Charge it overnight. Take it off the charger and let it set for at least an hour. Measure the battery voltage again and make a note of it. If it is less than 12.7 volts, put it back on the charger for all day and then measure again.
If 12.7 or over, the battery is probably good, but we need to let it just sit for 24 hours and measure it again. It should still be above 12.5 volts, preferably 12.6.
If it is a bad battery you will see the voltage slowly fall over the next few days just from sitting there not even hooked up. It will drop to the the 11 volts or less. The loss in voltage is caused by internal current flow from a buildup of sulfates on the plates.
rScotty